A four-wheel drive steering experimental system using a drive hub motor

Abstract

The invention discloses a driving hub motor four-wheel drive steering experimental system, comprising: a whole vehicle system, used for simulating a certain weight of four-wheel independent steering and four-wheel independent drive hub motor driven electric vehicle; a vehicle dynamics simulation system, used for simulating a certain weight of four-wheel independent steering and four-wheel independent drive hub motor driven electric vehicle dynamics characteristics; a steering wheel load motor system, comprising a steering wheel load motor, the output shaft of the steering wheel load motor is connected with the steering wheel for transmission; the steering wheel load motor is used for simulating the resistance characteristics when the steering wheel is turned, and the torque and speed output thereof are controlled by the whole vehicle HIL equipment; a steering resistance motor system, comprising a steering load motor, the output shaft of the steering load motor is assembled with the output shaft of the driving hub motor; the steering load motor is used for simulating the ground load when the wheel is turned, and the torque and speed output thereof are controlled by the whole vehicle HIL equipment; a measurement and control system, comprising a whole vehicle control system and a dynamics simulation control system.

Description

Technical Field

[0001] The invention relates to an automobile test technology, in particular to a four-wheel drive steering test system with a driving wheel hub motor. Background Art

[0002] In the process of automobile development, it is essential to conduct power and steering tests and simulations, which mainly test the power of the car under various situations and road conditions to ensure the safety of the car. At present, this technology is mainly used in the simulation of fuel vehicles, and there is no special experimental system for electric vehicles.

[0003] Although electric vehicles and fuel vehicles have many similarities, the difference in their power sources makes them also have many differences. If the experimental system of fuel vehicles is used to test electric vehicles, it is bound to lead to large errors, and even the test results will not be of reference value.

[0004] Therefore, the applicant proposed a four-wheel drive steering test system with a drive hub motor, which conducts simulation experiments on electric vehicles to obtain relevant data of the electric vehicles in actual use, thereby facilitating adjustments by R&D personnel. Summary of the invention

[0005] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to provide a four-wheel drive steering test system with a driving wheel hub motor.

[0006] To achieve the above object, the present invention provides a driving wheel hub motor four-wheel drive steering test system, comprising:

[0007] 1) Complete vehicle system, used to simulate a certain weight of four-wheel independent steering and four-wheel independent drive hub motor driven electric vehicle;

[0008] 2) Vehicle dynamics simulation system, used to simulate the dynamic characteristics of electric vehicles driven by four-wheel independent steering and four-wheel independent drive hub motors of a certain weight;

[0009] 3) Steering wheel load motor system, including a steering wheel load motor, the output shaft of which is connected to the steering wheel for transmission, and a torque / speed sensor for detecting torque removal and speed is installed on the output shaft of the steering wheel load motor; the steering wheel load motor is used to simulate the resistance characteristics when the steering wheel is turned, and its torque and speed output are controlled by the vehicle HIL equipment;

[0010] 4) Steering resistance motor system, including a steering load motor, the output shaft of the steering load motor is assembled with the output shaft of the driving wheel hub motor, and the output shaft of the steering load motor and the output shaft of the driving wheel hub motor are assembled to drive each other; the steering load motor is used to simulate the ground load when the wheel rotates, and its torque and speed output are controlled by the vehicle HIL equipment;

[0011] 5) Measurement and control system, including the vehicle control system with the vehicle controller as the core and the dynamic simulation control system with the vehicle HIL equipment as the core.

[0012] Preferably, the whole vehicle system is composed of a vehicle frame, an independent suspension, a wire-controlled brake system, a wire-controlled drive system, a wire-controlled steering system, and a whole vehicle control system.

[0013] Preferably, the brake-by-wire system comprises a brake-by-wire pedal and an electromagnetic brake. The brake-by-wire pedal sends the driver's brake system signal to the vehicle controller. After calculation, the vehicle controller controls the electromagnetic brake to brake the wheels.

[0014] Preferably, the drive-by-wire system includes a drive-by-wire accelerator pedal and a drive hub motor. The drive-by-wire accelerator pedal sends the driver's acceleration signal to the open source vehicle controller. After calculation, the open source vehicle controller controls the torque output of the drive hub motor.

[0015] Preferably, the steer-by-wire system includes a steering wheel, a linear motor and a mechanical steering mechanism. The open source vehicle controller collects the steering wheel angle signal, and after calculation, the open source vehicle controller controls the linear motor to drive the mechanical steering mechanism to rotate.

[0016] Preferably, the vehicle dynamics simulation system includes a drive / brake load simulation motor system adapted to the wire control brake system and the wire control drive system, a steering wheel load motor system adapted to the wire control steering system, a steering resistance motor system, and a vehicle dynamics simulation control system.

[0017] Preferably, the driving / braking load simulation motor system includes a driving load motor, wherein the output shaft of the driving load motor is connected to the output shaft of the driving hub motor through a coupling, so that the driving hub motor can drive the driving load motor to operate, and a torque / speed sensor for detecting torque and speed is also installed between the output shaft of the driving hub motor and the output shaft of the driving load motor; the driving load motor is used to simulate wheel load characteristics, and its torque and speed output are controlled by the vehicle HIL equipment.

[0018] Preferably, the driving hub motor is mounted on the frame via a suspension, and a shock absorber is installed between the suspension and the frame;

[0019] The push rod of the linear motor is connected and fixed to the housing of the driving hub motor. When the driving hub motor is driven to move, it simulates the steering of the car.

[0020] The load-driving motor, the electromagnetic brake, and the torque / speed sensor for detecting the torque and speed of the load-driving motor are all installed on the first tray;

[0021] The first tray is assembled and fixed with one end of the shaft body, the other end of the shaft body is assembled with a bearing, the bearing is fixed on the sliding tray, the movable tray is slidably assembled on the second tray, and the second tray is fixed on the ground;

[0022] The linear motor is fixed on the frame;

[0023] The shaft body is connected with the output shaft of the steering load motor through a belt to form a belt transmission structure.

[0024] Preferably, a torque / speed sensor for detecting the torque and speed of the steering wheel shaft is installed on the steering wheel shaft. The shaft is connected to the output shaft of the steering wheel load motor through a second belt to form a belt drive structure. When the shaft is driven to rotate by the steering wheel, the steering wheel load motor provides reverse resistance to the shaft through the second belt to simulate the resistance characteristics when the steering wheel rotates.

[0025] Preferably, the vehicle control system comprises an open source vehicle controller, related wiring harnesses and a built-in control software framework. The open source vehicle controller collects signals from each drive-by-wire system, brake-by-wire system, steering-by-wire system and sensor, and after calculation by the built-in control software, issues torque / speed / angle instructions to the drive-by-wire system, brake-by-wire system and steering-by-wire system through the CAN / RS485 bus.

[0026] The vehicle dynamics simulation control system includes the vehicle HIL equipment, related wiring harnesses and built-in control software framework. The vehicle HIL equipment collects signals from the drive / brake load simulation motor system, steering wheel load motor system, steering resistance motor system and various sensors. After calculation by the built-in control software, torque / speed / angle instructions are issued to the above-mentioned drive / brake load simulation motor system, steering wheel load motor system and steering resistance motor system through the CAN / RS485 bus. The system control update time is less than 50ms.

[0027] The beneficial effects of the present invention are:

[0028] 1. The present invention can simultaneously simulate the four-wheel independent steering and four-wheel independent drive vehicle dynamics characteristics of distributed drive electric vehicles, and can use the experimental platform to carry out experimental verification of the control principles of four-wheel drive and four-wheel steering. The experimental platform works in the laboratory, can quickly develop control algorithms, accurately simulate the dynamic characteristics of actual vehicles, and greatly reduce the experimental costs and experimental risks of vehicle dynamics control.

[0029] 2. The present invention utilizes the rapid prototyping function of the vehicle controller to simulate the control function of the ECU. Users can use the open source vehicle controller to quickly develop the vehicle control algorithm to control the drive and steering movements of the four wheels respectively. The open source vehicle controller is a product-level rapid prototyping system that supports a graphical development environment (Matlab / Simulink / RTW), automatically generates code, can be seamlessly connected with professional calibration software, and has an easy-to-develop CAN / RS485 channel to support user-made sub-controllers to communicate with the vehicle controller through this CAN / RS485 bus network.

[0030] 3. The present invention utilizes the integration function of the vehicle HIL equipment and Matlab / Simulink to facilitate users to build a vehicle dynamics model to calculate and simulate vehicle dynamics characteristics, and transmit the calculation results of vehicle dynamics characteristics to each load motor to simulate the dynamic characteristics of real vehicles under different road conditions, such as tire-road friction, steering wheel resistance, etc. In addition, users can also combine existing commercial vehicle dynamics simulation software such as CarSim to calculate the vehicle's dynamic characteristics and transmit them to the load system.

[0031] 4. The measurement and control software built into the vehicle controller and the vehicle HIL equipment of the present invention can be seamlessly connected with the existing Matlab / Simulink, and can realize real-time vehicle dynamics control by controlling each drive motor, and can realize real-time vehicle dynamics characteristics simulation by controlling each load motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a partial schematic diagram of a specific implementation method of a four-wheel drive steering experimental system of a drive hub motor of the present invention.

[0033] Figure 2 It is another partial schematic diagram of a specific implementation method of a four-wheel drive steering experimental system of a driving hub motor of the present invention.

[0034] Figure 3 It is a structural diagram of the vehicle dynamics simulation system.

[0035] Figure 4 It is a schematic diagram of the steering wheel load motor system structure. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0037] See also Figure 1-Figure 2 , Figure 1 and Figure 2 The dotted line and the solid line in the figure are connected as a whole, and together they constitute a complete driving wheel hub motor four-wheel drive steering experimental system.

[0038] The open source vehicle controller and vehicle HIL equipment in this embodiment are controllers for driving simulation based on the Matlab / Simulink system, which can be understood as a computer (driving computer) equipped with an open source vehicle controller and vehicle HIL equipment.

[0039] The driving wheel hub motor four-wheel drive steering experimental system of this embodiment includes:

[0040] The whole vehicle system simulates a 300kg electric vehicle with four-wheel independent steering and four-wheel independent drive hub motors, including a frame, four independent suspensions, four wire-controlled brake systems, four wire-controlled drive systems, four wire-controlled steering systems, and one vehicle control system. The vehicle has a trouble-free operation time of more than 1,000 hours and a maximum simulated speed of more than 40 kilometers per hour, including:

[0041] The frame is used to fix and accommodate the suspension, braking system, drive system and steering system. It has a certain mechanical strength, a wheelbase of less than 1.5m and a wheelbase of less than 2.7m. The wheelbase and wheelbase ratio are similar to those of common passenger cars. It has two seats for the experimental driver, both equipped with three-point safety belts;

[0042] The suspension is fixed on the frame and can cooperate with other subsystems to complete the driving, braking and steering functions of the vehicle. It can adapt to the roll and pitch movement of the vehicle, and the suspension travel is not less than 25mm;

[0043] Braking-by-wire system: includes brake-by-wire pedal (same as automobile brake pedal) and electromagnetic brake. The brake-by-wire pedal sends the driver's braking system signal to the vehicle controller. After calculation, the vehicle controller controls the electromagnetic brake to brake the wheel. The maximum braking torque of the electromagnetic brake is not less than 50Nm, and the braking response time is not more than 100ms.

[0044] The drive-by-wire system includes a drive-by-wire accelerator pedal and a drive wheel hub motor. The drive-by-wire accelerator pedal sends the driver's acceleration signal to the open source vehicle controller. After calculation, the open source vehicle controller controls the torque output of the drive wheel hub motor. Among them, the maximum torque output of the drive wheel hub motor is not less than 200Nm, the maximum speed is not less than 600rpm, and the rated power is not less than 5kW.

[0045] The wire-controlled steering system includes a steering wheel, a linear motor, and a mechanical steering mechanism (refer to the steering mechanism of existing cars). The open source vehicle controller collects the steering wheel angle signal (refer to the steering system of existing cars). After calculation, the open source vehicle controller controls the linear motor to drive the mechanical steering mechanism to rotate. Among them, the maximum thrust of the linear motor is not less than 800N, the steering angle of the mechanical steering mechanism is not less than plus or minus 60 degrees, and the maximum steering speed is not less than 30 degrees / s.

[0046] Vehicle dynamics simulation system: The vehicle dynamics simulation system simulates the dynamic characteristics of an electric vehicle with four-wheel independent steering and four-wheel independent drive hub motors with a vehicle weight of approximately 300kg. It includes 4 drive / brake load simulation motor systems compatible with the above-mentioned wire-controlled brake system and wire-controlled drive system, 1 steering wheel load motor system compatible with the wire-controlled steering system, 4 steering resistance motor systems, and 1 vehicle dynamics simulation control system.

[0047] The driving / braking load simulation motor system includes a driving load motor, wherein the output shaft of the driving load motor is connected to the output shaft of the driving hub motor through a coupling, so that the driving hub motor can drive the driving load motor to operate, and a torque / speed sensor for detecting torque and speed is also installed between the output shaft of the driving hub motor and the output shaft of the driving load motor;

[0048] The driving load motor is used to simulate the wheel load characteristics, and its torque and speed output are controlled by the vehicle HIL equipment. The maximum torque output of the driving wheel hub motor is not less than 200Nm, the maximum speed is not less than 600rpm, the rated power is not less than 5kW, the maximum torque measurement range of the torque / speed sensor is not less than 250Nm, the maximum speed is not less than 1000rpm, and the measurement accuracy is not less than 1‰;

[0049] See also Figure 3 The driving wheel hub motor is installed on the frame through the suspension 110. A shock absorber 120 is installed between the suspension and the frame. The shock absorber can be a spring and a damper. For details, reference can be made to the shock absorption of existing automobiles.

[0050] The push rod 410 of the linear motor is connected and fixed to the housing of the driving hub motor. When the driving hub motor is driven to move, it simulates the steering of the car.

[0051] The load-driving motor, the electromagnetic brake, and the torque / speed sensor for detecting the torque and speed of the load-driving motor are all mounted on the first tray 210;

[0052] The first tray 210 is assembled and fixed with one end of the shaft 310, and the other end of the shaft 310 is assembled with the bearing 330, and the bearing 330 is fixed on the sliding tray 230. The movable tray 230 is slidably assembled on the second tray 220, and the second tray 220 is fixed on the ground;

[0053] The linear motor is fixed on the frame;

[0054] The shaft body 310 is connected to the output shaft of the steering load motor through a belt 320 to form a belt transmission structure.

[0055] When in use, the push rod 410 drives the first turntable 210 to rotate around the shaft 310 by pushing the driving hub motor to simulate the turning of the car. The steering load motor provides resistance to the shaft through the belt to provide damping for the push rod, that is, to simulate the load when the car is turning.

[0056] The steering wheel load motor system comprises a steering wheel load motor, the output shaft of the steering wheel load motor is connected to the steering wheel for transmission, and a torque / speed sensor for detecting torque removal and speed is installed on the output shaft of the steering wheel load motor;

[0057] The steering wheel load motor is used to simulate the resistance characteristics when the steering wheel is turned, and its torque and speed output are controlled by the vehicle HIL equipment. The maximum torque output transmitted to the steering wheel by the steering wheel load motor is not less than 20Nm, the maximum speed is not less than 60rpm, the maximum power is not less than 0.4kW, the maximum torque measurement range of the torque / speed sensor is not less than 50Nm, the maximum speed is not less than 100rpm, and the measurement accuracy is not less than 1‰;

[0058] The steering resistance motor system comprises a steering load motor, the output shaft of the steering load motor is assembled with the output shaft of the driving wheel hub motor, and the output shaft of the steering load motor and the output shaft of the driving wheel hub motor are assembled to drive each other;

[0059] The steering load motor is used to simulate the ground load when the wheel rotates, and its torque and speed output are controlled by the vehicle HIL equipment. The maximum friction of the simulated load is not less than 900N, the steering angle of the mechanical steering mechanism is not less than plus or minus 65 degrees (angle unit, equivalent to "°"), and the maximum steering speed is not less than 35 degrees / s.

[0060] See also Figure 4 A torque / speed sensor for detecting the torque and speed of the steering wheel shaft is installed on the steering wheel shaft 620. The shaft 620 is connected to the output shaft of the steering wheel load motor through the second belt 610 to form a belt drive structure. When the shaft is driven to rotate by the steering wheel, the steering wheel load motor provides reverse resistance to the shaft through the second belt 610 to simulate the resistance characteristics when the steering wheel rotates.

[0061] The measurement and control system includes a vehicle control system with the vehicle controller (open source vehicle controller) as the core and a dynamic simulation control system with the vehicle HIL equipment as the core.

[0062] The vehicle control system includes an open source vehicle controller, related wiring harnesses, and a built-in control software framework. The open source vehicle controller collects signals from each drive-by-wire system, brake-by-wire system, steering-by-wire system, and sensor signals, and after calculation by the built-in control software, issues torque / speed / angle instructions to the drive-by-wire system, brake-by-wire system, and steering-by-wire system through the CAN / RS485 bus.

[0063] The control update time of the vehicle control system is required to be less than 50ms. The built-in control software package contains a modular software interface for the above hardware, with complete functions and clear interfaces, making it easy for users to develop and implement vehicle control algorithms based on Matlab / Simulink.

[0064] The vehicle dynamics simulation control system includes the vehicle HIL equipment, related wiring harnesses and built-in control software framework. The vehicle HIL equipment collects signals from the drive / brake load simulation motor system, steering wheel load motor system, steering resistance motor system and various sensors. After calculation by the built-in control software, torque / speed / angle instructions are issued to the above-mentioned drive / brake load simulation motor system, steering wheel load motor system and steering resistance motor system through the CAN / RS485 bus. The system control update time is less than 50ms. The built-in control software includes a modular software interface for the above-mentioned hardware, which is fully functional and has a clear interface, making it easy for users to develop and implement vehicle dynamics simulation algorithms based on Matlab / Simulink.

[0065] The software modules based on Matlab / Simulink in the measurement and control system are as follows:

[0066] (1) Drive-by-wire system control algorithm interface;

[0067] (2) Brake-by-wire system control algorithm interface;

[0068] (3) Steering-by-wire system control algorithm interface;

[0069] (4) Drive load simulation motor system control algorithm interface;

[0070] (5) Steering wheel load motor system control algorithm interface;

[0071] (6) Steering resistance motor system control algorithm interface;

[0072] (7) Signal transmission and information display of torque / speed sensor.

[0073] The driving wheel hub motor four-wheel drive steering experimental system of the present invention can be used for the following research or testing:

[0074] 1. Research on control characteristics of wheel hub motors of distributed drive electric vehicles;

[0075] 2. Research on the dynamic characteristics of four-wheel drive and four-wheel steering;

[0076] 3. Research on anti-lock brake control system (ABS) based on distributed drive electric vehicles;

[0077] 4. Research on traction control system (TCS) based on distributed drive electric vehicles;

[0078] 5. Research on electronic stability control system (ESC / ESP) based on distributed drive electric vehicles;

[0079] 6. Research on torque coordination based on distributed drive electric vehicles;

[0080] 7. Research on optimal driving efficiency of electric vehicles based on distributed drive;

[0081] 8. Research on vehicle stability based on four-wheel independent steering;

[0082] 9. Research on path planning based on four-wheel independent steering;

[0083] 10. Research on vehicle coordinated control based on four-wheel independent drive and steering;

[0084] 11. Research on intelligent / assisted driving based on four-wheel independent drive and steering.

[0085] The matters not described in detail in the present invention are all known technologies to those skilled in the art.

[0086] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A four-wheel drive steering test system with a drive hub motor, characterized in that: include: 1) Complete vehicle system, used to simulate a certain weight of four-wheel independent steering and four-wheel independent drive hub motor driven electric vehicle; 2) Vehicle dynamics simulation system, used to simulate the dynamic characteristics of electric vehicles driven by four-wheel independent steering and four-wheel independent drive hub motors of a certain weight; 3) Steering wheel load motor system, including a steering wheel load motor, the output shaft of which is connected to the steering wheel for transmission, and a torque / speed sensor for detecting torque removal and speed is installed on the output shaft of the steering wheel load motor; the steering wheel load motor is used to simulate the resistance characteristics when the steering wheel is turned, and its torque and speed output are controlled by the vehicle HIL equipment; 4) Steering resistance motor system, including a steering load motor, the output shaft of the steering load motor is assembled with the output shaft of the driving wheel hub motor, and the output shaft of the steering load motor and the output shaft of the driving wheel hub motor are assembled to drive each other; the steering load motor is used to simulate the ground load when the wheel rotates, and its torque and speed output are controlled by the vehicle HIL equipment; 5) Measurement and control system, including the vehicle control system with the vehicle controller as the core and the dynamic simulation control system with the vehicle HIL equipment as the core; The vehicle dynamics simulation system comprises a drive / brake load simulation motor system adapted to the wire control brake system and the wire control drive system, a steering wheel load motor system adapted to the wire control steering system, a steering resistance motor system, and a vehicle dynamics simulation control system; The driving / braking load simulation motor system includes a driving load motor, the output shaft of which is connected to the output shaft of the driving wheel hub motor through a coupling, so that the driving wheel hub motor can drive the driving load motor to operate, and a torque / speed sensor for detecting torque and speed is also installed between the output shaft of the driving wheel hub motor and the output shaft of the driving load motor; the driving load motor is used to simulate wheel load characteristics, and its torque and speed output are controlled by the vehicle HIL equipment; The driving wheel hub motor is installed on the frame through a suspension, and a shock absorber is installed between the suspension and the frame; The push rod of the linear motor is connected and fixed to the housing of the driving hub motor. When the driving hub motor is driven to move, it simulates the steering of the car. The load-driving motor, the electromagnetic brake, and the torque / speed sensor for detecting the torque and speed of the load-driving motor are all installed on the first tray; The first tray is assembled and fixed with one end of the shaft body, the other end of the shaft body is assembled with a bearing, the bearing is fixed on the sliding tray, the movable tray is slidably assembled on the second tray, and the second tray is fixed on the ground; The linear motor is fixed on the frame; The shaft body is connected to the output shaft of the steering load motor through a belt to form a belt transmission structure; A torque / speed sensor for detecting the torque and speed of the steering wheel shaft is installed on the steering wheel shaft. The shaft is connected to the output shaft of the steering wheel load motor through a second belt to form a belt drive structure. When the shaft is driven to rotate by the steering wheel, the steering wheel load motor provides reverse resistance to the shaft through the second belt to simulate the resistance characteristics when the steering wheel rotates.

2. The driving wheel hub motor four-wheel drive steering test system according to claim 1, characterized in that: The whole vehicle system is composed of the frame, independent suspension, wire-controlled brake system, wire-controlled drive system, wire-controlled steering system and vehicle control system.

3. The driving wheel hub motor four-wheel drive steering test system as claimed in claim 2, characterized in that: Brake-by-wire system: includes brake-by-wire pedal and electromagnetic brake. The brake-by-wire pedal sends the driver's brake system signal to the vehicle controller. After calculation, the vehicle controller controls the electromagnetic brake to brake the wheels.

4. The driving wheel hub motor four-wheel drive steering test system as claimed in claim 2, characterized in that: The drive-by-wire system includes a drive-by-wire accelerator pedal and a drive wheel hub motor. The drive-by-wire accelerator pedal sends the driver's acceleration signal to the open source vehicle controller. After calculation, the open source vehicle controller controls the torque output of the drive wheel hub motor.

5. The driving wheel hub motor four-wheel drive steering test system as claimed in claim 2, characterized in that: The steer-by-wire system includes a steering wheel, a linear motor and a mechanical steering mechanism. The open source vehicle controller collects the steering wheel angle signal and, after calculation, controls the linear motor to drive the mechanical steering mechanism to rotate.

6. The driving wheel hub motor four-wheel drive steering test system as claimed in claim 1, characterized in that: The vehicle control system includes an open source vehicle controller, related wiring harnesses, and a built-in control software framework. The open source vehicle controller collects signals from each drive-by-wire system, brake-by-wire system, steering-by-wire system, and sensor signals, and after calculation by the built-in control software, issues torque / speed / angle instructions to the drive-by-wire system, brake-by-wire system, and steering-by-wire system through the CAN / RS485 bus. The vehicle dynamics simulation control system includes the vehicle HIL equipment, related wiring harnesses and built-in control software framework. The vehicle HIL equipment collects signals from the drive / brake load simulation motor system, steering wheel load motor system, steering resistance motor system and various sensors. After calculation by the built-in control software, torque / speed / angle instructions are issued to the above-mentioned drive / brake load simulation motor system, steering wheel load motor system and steering resistance motor system through the CAN / RS485 bus. The system control update time is less than 50ms.

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